Project Description
In this project we are testing and implementing data-driven control techniques in multirotors.
One focus of the project is to design angle and angle rate controllers using the Virtual Reference Feedback Tuning method. The problem is specially complex since the process is multivariable, nonlinear and use noisy sensors. Also the data must be collected in closed-loop experiments, since the process is open-loop unstable.
Another approach is to use iterative data-driven techniques like IFT and CbT. The main objective is to reduce the number of experiments need to tune the controller.
The master student Douglas Tesch is studying the iterative methods in his master project. He has developed a Cascade Iterative Feedback Tuning Method specially design for motion control of multirotors.
